Title :
Variable structure control of a capsule robot system
Author :
Liu, Yang ; Yu, Hongnian
Author_Institution :
Fac. of Comput., Eng. & Technol., Staffordshire Univ., Stafford
Abstract :
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule robot system. The proposed scheme is robust to parameter uncertainty caused by the imprecise measurement in real experiment. Simulation results are presented to demonstrate the robustness of the proposed scheme.
Keywords :
Lyapunov methods; asymptotic stability; medical robotics; microrobots; mobile robots; nonlinear control systems; robust control; variable structure systems; Lyapunov stability theory; capsule robot system; exponentially stable robust nonlinear control scheme; micro mobile robot system; two degrees-of-freedom; underactuated system; variable structure control; Actuators; Control systems; Lyapunov method; Medical control systems; Medical robotics; Nonlinear control systems; Robots; Robust control; Robust stability; Robustness;
Conference_Titel :
Networking, Sensing and Control, 2009. ICNSC '09. International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-3491-6
Electronic_ISBN :
978-1-4244-3492-3
DOI :
10.1109/ICNSC.2009.4919276
